GB2604223B - Motion control of a motion device - Google Patents

Motion control of a motion device Download PDF

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Publication number
GB2604223B
GB2604223B GB2118674.7A GB202118674A GB2604223B GB 2604223 B GB2604223 B GB 2604223B GB 202118674 A GB202118674 A GB 202118674A GB 2604223 B GB2604223 B GB 2604223B
Authority
GB
United Kingdom
Prior art keywords
motion
control
motion control
motion device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB2118674.7A
Other languages
English (en)
Other versions
GB2604223A (en
Inventor
Miguens Rijo Branco Jorge Tiago
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ocado Innovation Ltd
Original Assignee
Ocado Innovation Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB2020681.9A external-priority patent/GB202020681D0/en
Priority claimed from GBGB2020668.6A external-priority patent/GB202020668D0/en
Priority claimed from GBGB2020684.3A external-priority patent/GB202020684D0/en
Priority claimed from GBGB2020680.1A external-priority patent/GB202020680D0/en
Application filed by Ocado Innovation Ltd filed Critical Ocado Innovation Ltd
Priority to GB2304724.4A priority Critical patent/GB2613759B/en
Publication of GB2604223A publication Critical patent/GB2604223A/en
Application granted granted Critical
Publication of GB2604223B publication Critical patent/GB2604223B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0066—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for limitation of acceleration or stress
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Numerical Control (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
  • Vehicle Body Suspensions (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Programmable Controllers (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Regulating Braking Force (AREA)
GB2118674.7A 2020-12-24 2021-12-21 Motion control of a motion device Active GB2604223B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2304724.4A GB2613759B (en) 2020-12-24 2021-12-21 Motion control of a motion device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GBGB2020681.9A GB202020681D0 (en) 2020-12-24 2020-12-24 Motion control of a load handling device operative on
GBGB2020668.6A GB202020668D0 (en) 2020-12-24 2020-12-24 Motion control of a load handling device operative on
GBGB2020684.3A GB202020684D0 (en) 2020-12-24 2020-12-24 Motion control of a load handling device operative on
GBGB2020680.1A GB202020680D0 (en) 2020-12-24 2020-12-24 Motion control of a load handling device operative on

Publications (2)

Publication Number Publication Date
GB2604223A GB2604223A (en) 2022-08-31
GB2604223B true GB2604223B (en) 2023-05-24

Family

ID=79269956

Family Applications (5)

Application Number Title Priority Date Filing Date
GB2118698.6A Active GB2604225B (en) 2020-12-24 2021-12-21 Motion control of a robotic load handling device
GB2118674.7A Active GB2604223B (en) 2020-12-24 2021-12-21 Motion control of a motion device
GB2304724.4A Active GB2613759B (en) 2020-12-24 2021-12-21 Motion control of a motion device
GB2118702.6A Active GB2604226B (en) 2020-12-24 2021-12-21 Motion control of a robotic load handling device
GB2118691.1A Active GB2604224B (en) 2020-12-24 2021-12-21 Motion control of a motion device

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB2118698.6A Active GB2604225B (en) 2020-12-24 2021-12-21 Motion control of a robotic load handling device

Family Applications After (3)

Application Number Title Priority Date Filing Date
GB2304724.4A Active GB2613759B (en) 2020-12-24 2021-12-21 Motion control of a motion device
GB2118702.6A Active GB2604226B (en) 2020-12-24 2021-12-21 Motion control of a robotic load handling device
GB2118691.1A Active GB2604224B (en) 2020-12-24 2021-12-21 Motion control of a motion device

Country Status (8)

Country Link
US (4) US20240043224A1 (ko)
EP (4) EP4268039A1 (ko)
JP (4) JP2024501530A (ko)
KR (4) KR20230124707A (ko)
AU (4) AU2021405502B2 (ko)
CA (4) CA3206367A1 (ko)
GB (5) GB2604225B (ko)
WO (4) WO2022136475A1 (ko)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11541764B2 (en) * 2021-02-01 2023-01-03 Rivian Ip Holdings, Llc Systems and methods for controlling motor engagement for a vehicle
CN114995118B (zh) * 2022-07-18 2023-08-22 英孚康（浙江）工业技术有限公司 一种抑制过冲和反向的跃度自适应s型速度曲线规划方法
EP4357482A1 (en) 2022-10-18 2024-04-24 Université Paris Cité Electrocatalytic generation of imines from alcohols and amines
CN115657608B (zh) * 2022-10-26 2023-09-08 英孚康（浙江）工业技术有限公司 基于Brent迭代法的全局非对称式S型柔性速度曲线规划方法
CN117921684B (zh) * 2024-03-22 2024-06-14 北京壹点灵动科技有限公司 机械臂的控制方法、装置、存储介质及电子设备

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104298114A (zh) * 2014-10-29 2015-01-21 西南科技大学 自适应鲁棒s型速度规划算法
US20170225710A1 (en) * 2016-02-04 2017-08-10 Ford Global Technologies, Llc Indication of Vehicle Direction of Travel
WO2017186825A1 (en) * 2016-04-26 2017-11-02 Ocado Innovation Limited Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler

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WO2006102517A2 (en) * 2005-03-23 2006-09-28 Hurco Companies, Inc. Method of tolerance-based trajectory planning and control
US8175725B2 (en) * 2008-09-08 2012-05-08 National Instruments Corporation Adapting move constraints for position based moves in a trajectory generator
GB201314313D0 (en) 2013-08-09 2013-09-25 Ocado Ltd Apparatus for retrieving units from a storage system
GB201409883D0 (en) 2014-06-03 2014-07-16 Ocado Ltd Methods, systems, and apparatus for controlling movement of transporting devices
NO342037B1 (en) 2016-11-02 2018-03-19 Autostore Tech As Controlling movements of a robot running on tracks
US11117743B2 (en) * 2017-09-28 2021-09-14 Symbotic Llc Storage and retrieval system
NO346364B1 (en) * 2018-04-25 2022-06-27 Autostore Tech As Container handling vehicle with first and second sections and battery in second section, and system.
GB2570119B (en) * 2018-01-10 2022-06-08 Ocado Innovation Ltd A controller and method for transporting devices
GB201803771D0 (en) * 2018-03-09 2018-04-25 Ocado Innovation Ltd Transporting device position determining apparatus and method
WO2019238676A1 (en) * 2018-06-12 2019-12-19 Autostore Technology AS A safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
WO2019238702A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS Automated storage system with a container vehicle and a charging system
GB201900653D0 (en) 2019-01-17 2019-03-06 Ocado Innovation Ltd RFID tags
GB201903982D0 (en) * 2019-03-22 2019-05-08 Ocado Innovation Ltd Load-handling device
GB2584677B (en) * 2019-06-10 2023-02-15 Glowbuzzer Ltd Method and apparatus for trajectory-planning

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104298114A (zh) * 2014-10-29 2015-01-21 西南科技大学 自适应鲁棒s型速度规划算法
US20170225710A1 (en) * 2016-02-04 2017-08-10 Ford Global Technologies, Llc Indication of Vehicle Direction of Travel
WO2017186825A1 (en) * 2016-04-26 2017-11-02 Ocado Innovation Limited Robotic load handler coordination system, cell grid system and method of coordinating a robotic load handler

Also Published As

Publication number Publication date
GB2613759A (en) 2023-06-14
KR20230124702A (ko) 2023-08-25
GB2604225B (en) 2023-05-31
US20240043224A1 (en) 2024-02-08
JP2024501530A (ja) 2024-01-12
GB202304724D0 (en) 2023-05-17
EP4268037A1 (en) 2023-11-01
CA3205072A1 (en) 2022-06-30
GB2604224A (en) 2022-08-31
GB2604226A (en) 2022-08-31
AU2021405508A1 (en) 2023-06-29
US20240053752A1 (en) 2024-02-15
CA3204856A1 (en) 2022-06-30
US20240059487A1 (en) 2024-02-22
WO2022136482A1 (en) 2022-06-30
EP4268038A1 (en) 2023-11-01
AU2021405485A1 (en) 2023-06-29
AU2021405502A1 (en) 2023-06-29
AU2021405502B2 (en) 2024-05-09
KR20230124707A (ko) 2023-08-25
KR20230124706A (ko) 2023-08-25
GB2604223A (en) 2022-08-31
JP2024501532A (ja) 2024-01-12
AU2021405506A1 (en) 2023-06-29
WO2022136454A1 (en) 2022-06-30
CA3206367A1 (en) 2022-06-30
WO2022136480A1 (en) 2022-06-30
GB2613759B (en) 2024-02-21
EP4268039A1 (en) 2023-11-01
AU2021405485A9 (en) 2024-06-27
EP4268036A1 (en) 2023-11-01
GB2604225A (en) 2022-08-31
US20240045435A1 (en) 2024-02-08
JP2024500248A (ja) 2024-01-05
GB2604224B (en) 2023-05-31
KR20230124704A (ko) 2023-08-25
CA3204768A1 (en) 2022-06-30
AU2021405508B2 (en) 2024-04-11
AU2021405506B2 (en) 2024-05-02
AU2021405485B2 (en) 2024-05-02
WO2022136475A1 (en) 2022-06-30
JP2024501531A (ja) 2024-01-12
GB2604226B (en) 2023-05-31

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